Increasing the Milling Accuracy for Industrial Robots Using a Piezo-Actuated High-Dynamic Micro Manipulator
Sörnmo, Olof LU ; Olofsson, Björn LU ; Schneider, Ulrich ; Robertsson, Anders LU and Johansson, Rolf LU
(2012)
2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
p.104-110
- Abstract
- The strong process forces arising during high-speed machining operations, combined with the limited stiffness of industrial robots, have hampered the usage of industrial robots in high-end milling tasks. However, since such manipulators may offer flexible and cost-effective machining solutions, a three-dimensional piezo-actuated compensation mechanism, which aims to compensate for the positioning errors of the robot, has earlier been developed. A prototype model-based control scheme for position control of the mechanism, utilizing LQG control, has been proposed. The main contribution of this paper is an experimental verification of the benefit of utilizing the online compensation scheme. We show that the milling accuracy achieved with the... (More)
- The strong process forces arising during high-speed machining operations, combined with the limited stiffness of industrial robots, have hampered the usage of industrial robots in high-end milling tasks. However, since such manipulators may offer flexible and cost-effective machining solutions, a three-dimensional piezo-actuated compensation mechanism, which aims to compensate for the positioning errors of the robot, has earlier been developed. A prototype model-based control scheme for position control of the mechanism, utilizing LQG control, has been proposed. The main contribution of this paper is an experimental verification of the benefit of utilizing the online compensation scheme. We show that the milling accuracy achieved with the proposed compensation mechanism is increased up to three times compared to the uncompensated case. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/2541374
- author
- Sörnmo, Olof
LU
; Olofsson, Björn
LU
; Schneider, Ulrich
; Robertsson, Anders
LU
and Johansson, Rolf
LU
- organization
- publishing date
- 2012
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
- pages
- 104 - 110
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
- conference location
- Kaohsiung, Taiwan
- conference dates
- 2012-07-11
- external identifiers
-
- wos:000309064200018
- scopus:84866933822
- ISBN
- 978-1-4673-2575-2
- DOI
- 10.1109/AIM.2012.6265942
- project
- RobotLab LTH
- COMET
- ProFlexa
- language
- English
- LU publication?
- yes
- additional info
- project=comet,robot
- id
- 8cc4fc26-159e-45e4-b047-b7e81a7e759b (old id 2541374)
- date added to LUP
- 2016-04-04 12:16:01
- date last changed
- 2023-04-24 22:07:27
@inproceedings{8cc4fc26-159e-45e4-b047-b7e81a7e759b,
abstract = {{The strong process forces arising during high-speed machining operations, combined with the limited stiffness of industrial robots, have hampered the usage of industrial robots in high-end milling tasks. However, since such manipulators may offer flexible and cost-effective machining solutions, a three-dimensional piezo-actuated compensation mechanism, which aims to compensate for the positioning errors of the robot, has earlier been developed. A prototype model-based control scheme for position control of the mechanism, utilizing LQG control, has been proposed. The main contribution of this paper is an experimental verification of the benefit of utilizing the online compensation scheme. We show that the milling accuracy achieved with the proposed compensation mechanism is increased up to three times compared to the uncompensated case.}},
author = {{Sörnmo, Olof and Olofsson, Björn and Schneider, Ulrich and Robertsson, Anders and Johansson, Rolf}},
booktitle = {{2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)}},
isbn = {{978-1-4673-2575-2}},
language = {{eng}},
pages = {{104--110}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{Increasing the Milling Accuracy for Industrial Robots Using a Piezo-Actuated High-Dynamic Micro Manipulator}},
url = {{https://lup.lub.lu.se/search/files/5966345/2863201.pdf}},
doi = {{10.1109/AIM.2012.6265942}},
year = {{2012}},
}